Farbod Farshidian

Publication Activity (10 Years)

Years Active: 2012-2024
Publications (10 Years): 80

Top Topics

Imitation Learning

Predictive Control

Top Venues

IEEE Robotics Autom. Lett.

Publications

Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter
DTC: Deep Tracking Control. Sci. Robotics 9 (86) (2024)
Yuntao Ma, Farbod Farshidian, Marco Hutter
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. ICRA (2023)
Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter
Perceptive Locomotion Through Nonlinear Model-Predictive Control. IEEE Trans. Robotics 39 (5) (2023)
Ruben Grandia, Farbod Farshidian, Espen Knoop, Christian Schumacher, Marco Hutter, Moritz Bächer
DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots. ACM Trans. Graph. 42 (4) (2023)
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
Versatile multicontact planning and control for legged loco-manipulation. Sci. Robotics 8 (81) (2023)
Yuntao Ma, Farbod Farshidian, Marco Hutter
Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators. CoRR (2023)
Edo Jelavic, Kaixian Qu, Farbod Farshidian, Marco Hutter
LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems. IEEE Trans. Robotics 39 (6) (2023)
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation. CoRR (2023)
Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. IEEE Robotics Autom. Lett. 8 (6) (2023)
Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter
DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion. CoRR (2023)
Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. CoRR (2022)
Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger
Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation. CoRR (2022)
Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Humanoids (2022)
Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. IEEE Trans. Robotics 38 (6) (2022)
Jan Carius, René Ranftl, Farbod Farshidian, Marco Hutter
Constrained stochastic optimal control with learned importance sampling: A path integral approach. Int. J. Robotics Res. 41 (2) (2022)
Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. CoRR (2022)
Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter
Perceptive Locomotion through Nonlinear Model Predictive Control. CoRR (2022)
Ibrahim Ibrahim, Farbod Farshidian, Jan Preisig, Perry Franklin, Paolo Rocco, Marco Hutter
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. CoRR (2022)
Jin Cheng, Firas Abi-Farraj, Farbod Farshidian, Marco Hutter
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. CoRR (2022)
Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation. ICRA (2022)
Jin Cheng, Firas Abi-Farraj, Farbod Farshidian, Marco Hutter
Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework. IROS (2022)
Ibrahim Ibrahim, Farbod Farshidian, Jan Preisig, Perry Franklin, Paolo Rocco, Marco Hutter
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach. ICRA (2022)
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter
Adaptive CLF-MPC With Application to Quadrupedal Robots. IEEE Robotics Autom. Lett. 7 (1) (2022)
Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. CoRR (2022)
Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators. CoRR (2022)
Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter
Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators. IEEE Robotics Autom. Lett. 7 (2) (2022)
Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. IROS (2022)
Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter
Imitation Learning from MPC for Quadrupedal Multi-Gait Control. ICRA (2021)
David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter
Learning a State Representation and Navigation in Cluttered and Dynamic Environments. CoRR (2021)
Edo Jelavic, Farbod Farshidian, Marco Hutter
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. CoRR (2021)
Edo Jelavic, Farbod Farshidian, Marco Hutter
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots. ICRA (2021)
Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. ICRA (2021)
Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. ICRA (2021)
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. ICRA (2021)
Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. ICRA (2021)
Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes. CoRR (2021)
Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks. CoRR (2021)
Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter
Imitation Learning from MPC for Quadrupedal Multi-Gait Control. CoRR (2021)
David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter
Learning a State Representation and Navigation in Cluttered and Dynamic Environments. IEEE Robotics Autom. Lett. 6 (3) (2021)
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. IEEE Robotics Autom. Lett. 6 (3) (2021)
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter
Adaptive CLF-MPC With Application To Quadrupedal Robots. CoRR (2021)
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
Constraint Handling in Continuous-Time DDP-Based Model Predictive Control. CoRR (2021)
Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation. CoRR (2021)
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation. CoRR (2021)
Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. CoRR (2020)
Yves Zimmermann, Emek Baris Küçüktabak, Farbod Farshidian, Robert Riener, Marco Hutter
Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton. IROS (2020)
Jan Carius, Farbod Farshidian, Marco Hutter
MPC-Net: A First Principles Guided Policy Search. IEEE Robotics Autom. Lett. 5 (2) (2020)
Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter
DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning. IEEE Robotics Autom. Lett. 5 (2) (2020)
Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter
Feedback MPC for Torque-Controlled Legged Robots. IROS (2019)
Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. CoRR (2019)
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter
Frequency-Aware Model Predictive Control. IEEE Robotics Autom. Lett. 4 (2) (2019)
David Hoeller, Farbod Farshidian, Marco Hutter
Deep Value Model Predictive Control. CoRL (2019)
Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization. ICRA (2019)
Farbod Farshidian, David Hoeller, Marco Hutter
Deep Value Model Predictive Control. CoRR (2019)
Abel Gawel, Roland Siegwart, Marco Hutter, Timothy Sandy, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. IROS (2019)
Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. CoRR (2019)
Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter
Feedback MPC for Torque-Controlled Legged Robots. CoRR (2019)
Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter
Whole-Body MPC for a Dynamically Stable Mobile Manipulator. IEEE Robotics Autom. Lett. 4 (4) (2019)
Jan Carius, Farbod Farshidian, Marco Hutter
MPC-Net: A First Principles Guided Policy Search. CoRR (2019)
Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter
DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning. CoRR (2019)
Abel Gawel, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio, Roland Siegwart, Marco Hutter, Timothy Sandy
A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction. CoRR (2019)
Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter
Frequency-Aware Model Predictive Control. CoRR (2018)
Joel Rey, Klas Kronander, Farbod Farshidian, Jonas Buchli, Aude Billard
Learning motions from demonstrations and rewards with time-invariant dynamical systems based policies. Auton. Robots 42 (1) (2018)
Alexander W. Winkler, Farbod Farshidian, Diego Pardo, Michael Neunert, Jonas Buchli
Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints. CoRR (2017)
Farbod Farshidian, Edo Jelavic, Asutosh Satapathy, Markus Giftthaler, Jonas Buchli
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach. CoRR (2017)
Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli
Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control. CoRR (2017)
Farbod Farshidian, Michael Neunert, Alexander W. Winkler, Gonzalo Rey, Jonas Buchli
An efficient optimal planning and control framework for quadrupedal locomotion. ICRA (2017)
Jonas Buchli, Farbod Farshidian, Alexander W. Winkler, Timothy Sandy, Markus Giftthaler
Optimal and Learning Control for Autonomous Robots. CoRR (2017)
Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann, Jonas Buchli
Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control. ICRA (2017)
Alexander W. Winkler, Farbod Farshidian, Diego Pardo, Michael Neunert, Jonas Buchli
Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints. IEEE Robotics Autom. Lett. 2 (4) (2017)
Farbod Farshidian, Edo Jelavic, Alexander W. Winkler, Jonas Buchli
Robust whole-body motion control of legged robots. IROS (2017)
Farbod Farshidian, Edo Jelavic, Asutosh Satapathy, Markus Giftthaler, Jonas Buchli
Real-time motion planning of legged robots: A model predictive control approach. Humanoids (2017)
Farbod Farshidian, Edo Jelavic, Alexander W. Winkler, Jonas Buchli
Robust Whole-Body Motion Control of Legged Robots. CoRR (2017)
Michael Neunert, Farbod Farshidian, Alexander W. Winkler, Jonas Buchli
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds. IEEE Robotics Autom. Lett. 2 (3) (2017)
Alexander W. Winkler, Farbod Farshidian, Michael Neunert, Diego Pardo, Jonas Buchli
Online walking motion and foothold optimization for quadruped locomotion. ICRA (2017)
Michael Neunert, Cedric de Crousaz, Fadri Furrer, Mina Kamel, Farbod Farshidian, Roland Siegwart, Jonas Buchli
Fast nonlinear Model Predictive Control for unified trajectory optimization and tracking. ICRA (2016)
Michael Neunert, Farbod Farshidian, Alexander W. Winkler, Jonas Buchli
Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds. CoRR (2016)
Farbod Farshidian, Michael Neunert, Alexander W. Winkler, Gonzalo Rey, Jonas Buchli
An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion. CoRR (2016)
Michael Neunert, Farbod Farshidian, Jonas Buchli
Efficient whole-body trajectory optimization using contact constraint relaxation. Humanoids (2016)
Farbod Farshidian, Diego Pardo, Jonas Buchli
Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems. CoRR (2016)
Farbod Farshidian, Jonas Buchli
Risk Sensitive, Nonlinear Optimal Control: Iterative Linear Exponential-Quadratic Optimal Control with Gaussian Noise. CoRR (2015)
Cedric de Crousaz, Farbod Farshidian, Michael Neunert, Jonas Buchli
Unified motion control for dynamic quadrotor maneuvers demonstrated on slung load and rotor failure tasks. ICRA (2015)
Farbod Farshidian, Michael Neunert, Jonas Buchli
Learning of closed-loop motion control. IROS (2014)
Farbod Farshidian, Zeinab Talebpour, Majid Nili Ahmadabadi
Budgeted Knowledge Transfer for State-Wise Heterogeneous RL Agents. ICONIP (1) (2012)